std_msgs/Header header 

int32[] start_ring_index
int32[] end_ring_index

float32 start_orientation
float32 end_orientation
float32 orientation_diff

bool[]    segmented_cloud_ground_flag # true - ground point, false - other points
uint32[]  segmented_cloud_col_ind # point column index in range image
float32[] segmented_cloud_range # point range 
